Staged Training Report ✓ Complete

Run ID: shoulder_session_multiheight_decoder_only_20_no_mask_ratio
Generated: 2026-02-25 15:32:38
Stages Completed: 1
Total Elapsed Time: 04:33:53

Configuration

No config defaults changed since last commit.

All Staged Training Parameters (61 parameters)
ParameterValue
total_samples10000000
batch_size8
stage_samples_multiplier100000000000
update_interval250
window_size100
num_best_models_to_keep1
sampling_modeLoss-weighted
loss_weight_temperature0.5
loss_weight_refresh_interval50
stop_on_divergenceTrue
divergence_gap0.002
divergence_ratio1.5
divergence_patience50
divergence_min_updates10
val_spike_threshold2.0
val_spike_window15
val_spike_frequency0.75
val_plateau_patience250
val_plateau_min_delta0.0001
custom_lr0.0001
disable_lr_scalingTrue
custom_warmup-1
lr_min_ratio0.001
resume_warmup_ratio0.05
plateau_factor0.8
plateau_patience15
preserve_optimizerFalse
preserve_schedulerTrue
samples_modeTrain additional samples
num_random_obs_to_visualize2
selected_frame_offset3
runs_per_stage5
serial_runsTrue
clean_old_checkpointsTrue
enable_baselineFalse
baseline_runs_per_stage1
run_idshoulder_session_multiheight_decoder_only_20_no_mask_ratio
seedNone
enable_wandbTrue
wandb_projectdevelopmental-robot-movement
lr_sweep.lr_min1e-07
lr_sweep.lr_max0.01
lr_sweep.phase_a_num_candidates5
lr_sweep.phase_a_seeds1
lr_sweep.phase_a_time_budget_min3.0
lr_sweep.phase_a_survivor_count2
lr_sweep.phase_b_seeds3
lr_sweep.phase_b_time_budget_min10.0
lr_sweep.ranking_metricmedian_best_val
lr_sweep.min_samples_before_timeout1000
lr_sweep.min_evals_before_stop5
lr_sweep.save_sweep_stateTrue
plateau_sweep.enabledTrue
plateau_sweep.plateau_ema_alpha0.85
plateau_sweep.plateau_improvement_threshold0.0015
plateau_sweep.plateau_patience25
plateau_sweep.cooldown_updates5
plateau_sweep.max_sweeps_per_stage2
plateau_sweep.min_sweep_improvement0.0
initial_sweep_enabledTrue
stage_time_budget_min180
World Model Architecture (config.py)
ParameterValue
AUTOENCODER_LR0.0002
BATCH_SIZE1
CANVAS_HISTORY_SIZE3
DECODER_DEPTH8
DECODER_EMBED_DIM256
DECODER_NUM_HEADS8
DECODER_ONLY_DEPTH20
EMBED_DIM256
ENCODER_DEPTH5
FOCAL_BETA5
FOCAL_LOSS_ALPHA0.1
FRAME_SIZE(224, 224)
GRADIO_UPDATE_INTERVAL1
LR_MIN_RATIO0.001
MODEL_TYPEdecoder_only
NUM_HEADS4
PATCH_SIZE16
PERCEPTUAL_LOSS_WEIGHT0
SEPARATOR_WIDTH16
WARMUP_STEPS1000
WEIGHT_DECAY0.01
MASK_RATIO_MIN1
MASK_RATIO_MAX1
TRAIN_MASK_RATIO_MIN1.0
TRAIN_MASK_RATIO_MAX1.0

Timing Summary

Stage Plateau Sweeps Sweep Time Training Time Stage Total
Stage 1 2 00:35:56 00:11:43 00:47:39
TOTAL 2 00:35:56 00:11:43 00:47:39

Initial LR Sweep: Stage 1: selected LR 3.16e-05 in 00:17:13

Plateau Sweep Details

Total Sweeps: 2
Stages with Sweeps: 1 of 1
Total Sweep Time: 00:35:56
Average Sweep Duration: 00:17:58

Stage 1: 2 sweeps

LR Progression: 3.2e-05 → 3.2e-05 → 1.8e-06

Sweep # Triggered At (samples) Wall Time Selected LR Duration
1 14,592 00:04:13 3.16e-05 00:19:26
2 26,624 00:27:07 1.78e-06 00:16:30

Stage Results

Stage Best Loss Stop Reason Samples Trained Time Sweeps LR (Initial→Final)
Stage 1 0.116476 max_sweeps (2) 13,824 00:47:39 2 3.2e-05→1.8e-06

Total Plateau Sweeps: 2

Stop Reason Breakdown

Loss Across Full Training Run

Multi-Run Statistics

Total Runs: 5
Average Best Loss: 0.119031 ± 0.002157
Best Overall: 0.116476
Worst Overall: 0.122095

Stage 1 (5 runs)

Run Best Loss Stop Reason Samples Time Selected
1 0.120900 max_sweeps (2) 11,008 01:01:41
2 0.117126 max_sweeps (2) 11,520 00:49:31
3 0.118558 max_sweeps (2) 13,568 00:48:28
4 0.122095 max_sweeps (2) 9,472 00:46:07
5 0.116476 max_sweeps (2) 13,824 00:47:39
Mean: 0.119031 ± 0.002157 Min: 0.116476 / Max: 0.122095 Range: 0.005619

Best Checkpoint

Name: best_model_auto_session_so101_multiheight_part1_1345_shoulder_session_multiheight_decoder_only_20_no_mask_ratio_00034048_cont_val_0.116476.pth
Stage: 1
Hybrid Loss (full session): 0.130061

Learning Rate Timeline with Plateau Sweeps

Stage Progression

Stage Orig Loss Train Loss Time Samples Stop Reason
1 ⭐ 0.130061 0.116476 00:47:39 13824 max_sweeps (2)

Hybrid Loss Over Original Session (per Stage)

Stage 1 (Best) - Hybrid Loss: 0.130061

Sample Counts

Cumulative Across All Stages

Per Stage

Stage 1 (Best) - Total Samples: 13,824

Best Checkpoint Inference

Selected Frame 3

Action 0

Action 1

Action 2

Random Observations

Observation 550

Action 0
Action 1
Action 2

Observation 918

Action 0
Action 1
Action 2